YASKAWA E-7S SERVOPACK SGD7S Product Manual page 442

Pausing Program Table Operation
This example shows how to turn OFF the /START-STOP signal to temporarily stop program
table operation and then turn ON the /START-STOP signal to execute the remainder of the
step.
Execution is temporarily stopped and then restarted during execution of program step 4.
The program table for this positioning is shown below.
PGM-
POS SPD
STEP
0 I+100000 15000
1 A+100000 15000
2 I+300000 15000
3 I+100000 15000
4 I+200000 30000
• Operating Procedure

Turn ON the /MODE 0/1 signal to change to mode 0.

Set the /SEL0 to /SEL7 signals to 4 (i.e., turn ON /SEL2) to specify program step 4.

Turn ON the /START-STOP signal to start program table operation.
The /INPOSITION signal turns OFF and the /POUT4 signal turns ON.

Turn OFF the /START-STOP signal to stop program table operation.

The Servomotor will decelerate to a stop.

Turn ON the /START-STOP signal to restart program table operation.
The /SEL0 to /SEL7 signals are not latched at this time.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
• Operation Pattern and Related Signal Timing
Speed
Operation
Pattern
Mode 0 (Program Table Operation)
/MODE 0/1
4 ms min.
/START-STOP*
2 ms min.
/SEL0 to
/SEL7*
/INPOSITION
/POUT0 to
/POUT7
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
RDST RSPD ACC
– 1000 400000
– 1000 :
– 1000 :
– 1000 :
– 1000 200000
Step 4
13.3 Program Table Operation
13.3.8 Program Table Operation Examples
DEC POUT EVENT
200000 NNNNNNNA IT1000
: NNNNNNAN IT2000
: NNNNNANN IT3000
: NNNNANNN IT2000
200000 NNNANNNN IT2000
Step 4
4
16
LOOP NEXT
1 END
1 END
1 END
1 END
1 END
Time
13
13-31